• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.783-789
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• 2007

In this paper, firstly, we propose a generating method of the 3-D obstacle map using ultrasonic sensors. Secondly, we try to find the necessary stimulation conditions of compact tactile display device for effective transfer of obstacle information. The final goal of this research is the development of a walking guide system for the blind to walk safely. The walking guide system consists of a guide vehicle for the obstacle detection and a tactile display device for the transfer of the obstacle information. The guide vehicle, located in front of the walking blind, detects the obstacle using ultrasonic sensors. The processed information makes an obstacle map and transmits safe path and emergency situation to the blind by the tactile display. The tactile display device, located in the handle which is connected with the guide vehicle by cane, offers the processed obstacle information such as position, size, moving, shape of obstacle and safe path, etc. The concept of a walking guide system with tactile display is introduced, and experiments of 3-D obstacle detection and tactile perception are carried out and analyzed.

• Journal of Digital Convergence
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• v.15 no.2
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• pp.165-172
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• 2017

In this paper, we analyze the research / technology trends of electric vehicles from 2001 to 2014, through keyword analysis using paper data published in SCIE or SSCI Journal on electric vehicles, time series analysis using patent data by IPC, and network analysis using nodeXL. also we predicted promising technologies of electric vehicles using one of the prediction methods, weighted moving average method. As a result of this study, battery technology among the electric vehicle component technologies appeared as a promising technology.

• Journal of the Korean Society of Industry Convergence
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• v.24 no.5
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• pp.547-553
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• 2021

Dynamic object recognition is an important task for autonomous vehicles. Since dynamic objects exhibit a higher collision risk than static objects, our own trajectories should be planned to match the future state of moving elements in the scene. Time information such as optical flow can be used to recognize movement. Existing optical flow calculations are based only on camera sensors and are prone to misunderstanding in low light conditions. In this regard, to improve recognition performance in low-light environments, we applied a normalization filter and a correction function for Gamma Value to the input images. The low light quality improvement algorithm can be applied to confirm the more accurate detection of Object's Bounding Box for the vehicle. It was confirmed that there is an important in object recognition through image prepocessing and deep learning using YOLO.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.10
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• pp.1318-1326
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• 2014

The purpose of a tracking control system is to track a moving target and to find the exact information of the target. If the platform of the tracking control system is equipped on a moving vehicle such as a ship, the tracking control system will treat even the additional platform motion. In order to avoid the complexity comprising the tracking control system, a process to treat the platform motion, named stabilizing system, must be separated from the tracking control system. In this paper, a method to comprise an attitude control system for the platform stabilization is proposed using an adaptive fuzzy control which is applicable to the system with structural and parametric uncertainty. The suggested adaptive fuzzy control algorithm is the 2nd/1st-type indirect adaptive fuzzy control algorithm using the advantages of 1st-type and 2nd-type indirect adaptive fuzzy control algorithm. Several experiments using the implemented stabilizing system are executed for verifying the effectiveness of the suggested method.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.33 no.2
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• pp.128-136
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• 2011

Purpose: Errors in orthognathic model surgery occur during the planning, measuring and/or moving of the models. However, there has been little effort to find ways to reduce these errors. In this study, we introduce a new orthognathic model surgery technique (Yonsei method) which adopts the tooth point as the reference and the occlusal index as a moving vehicle for the model. Methods: The technique consists mainly of: 1) measuring the three-dimensional lengths of model points, 2) fabricating and moving the occlusal index and 3) verifying the movement. Then we compared the accuracy of the Yonsei method to conventional methods, with special reference made to influencing factors. Results: Errors for the Yonsei method with the occlusal index were reduced to the range of 0.61~1.04 mm in three-dimension, providing a more accurate model surgery technique than conventional methods which have errors ranging from 0.77~3.11 mm. Conclusion: It provided us a more accurate model surgery technique based on the reference points onto the teeth and the use of occlusal index.

• Proceedings of the Korea Concrete Institute Conference
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• 1996.04a
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• pp.241-246
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• 1996

A new solution for the dynamic analysis of as asphalt concrete pavements under moving loads has been developed. The asphalt concrete pavement can be modeled in elastic or viscoelastic medium of multi-layered structure. The subgrade can be modeled as either a rigid base or a semi-infinite halfspace. The loads may be constant or arbitrary circular loads into one direction. The method utilizes the Complex Response Method of transient analysis with a continuum solution in the horizontal direction and a finite-element solution in the vertical direction. This proposed method incorporates such important factors as wave propagation, inertia and damping effects of the medium as well as frequency-dependent asphalt concrete properties. The proposed method has been validted with the full-scale field truck test, which was conducted on instrumented asphalt concrete section on a test track at PACCAR Technical Center in Mount Vernon, Washington. Comparison with field strain data from full-scale pavement tests has shown excellent agreement. Theoretical results have shown that the effect of vehicle speed is significant and that it is in part due to the frequency-dependent

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.3
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• pp.194-202
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• 2014

Steering axis of suspensions is an important factor that affects ride and handling quality in the vehicle chassis development. Macpherson strut and double wishbone's steering axis are defined geometrically, but multi-link suspensions can not be geometrically analyzed. In this case instant axis theory is commonly used to find a steering axis. Since the steering axis is moving with varying caster and kingpin inclination angle, this method approximately corresponds with exact solution. In this paper, we propose a velocity analysis method to find a pure rotational axis of the wheel relative to suspension arms, that is exact solution of the steering axis. This paper extends the method to analyze the steering axis of multi-link suspensions with bushing compliance. The analysis results applied to double wishbone and multi-link suspensions demonstrate validity and accuracy of the proposed method.

• International Journal of Naval Architecture and Ocean Engineering
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• v.7 no.1
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• pp.25-40
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• 2015

Understanding the effects of the parameters affecting the interaction of tandem hydrofoil system is a crucial subject in order to fully comprehend the aero/hydrodynamics of any vehicle moving inside a fluid. This study covers a parametric study on tandem hydrofoil interaction in both potential and viscous fluids using iterative Boundary Element Method (BEM) and RANSE. BEM allows a quick estimation of the flow around bodies and may be used for practical purposes to assess the interaction inside the fluid. The produced results are verified by conformal mapping and Finite Volume Method (FVM). RANSE is used for viscous flow conditions to assess the effects of viscosity compared to the inviscid solutions proposed by BEM. Six different parameters are investigated and they are the effects of distance, thickness, angle of attack, chord length, aspect ratio and tapered wings. A generalized 2-D code is developed implementing the iterative procedure and is adapted to generate results. Effects of free surface and cavitation are ignored. It is believed that the present work will provide insight into the parametric interference between hydrofoils inside the fluid.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.155-163
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• 2021

In this paper, we propose a four 2-link robotic leg landing system that is used for leveling the bottom of the landing system, even when the quadcopter posture is changed. The case of conventional skid type landing gear has a risk when the quadcopter lands on a moving vehicle because the skid type landing gear is tilted to the landing site at this situation. To solve this problem, it is necessary to level the bottom of the landing system when the quadcopter posture is changed in the flight. Therefore, the proposed landing system used a four 2-link robotic leg with leveling method. The leveling method was derived from the method of determining a plane. The superiority of the proposed system was verified with 6-axis stewart platform and real flight experiment, and it shows feasibility of leveling method and proposed landing system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.3
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• pp.632-637
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• 2019

Recent researches on autonomous driving of vehicles are becoming very active, and it is a trend to assist safe driving and improve driver's convenience. Autonomous vehicles are required to combine artificial intelligence, image recognition capability, and Internet communication between objects. Because mobile telecommunication networks have limitations in their processing, they can be easily implemented and scale using an easily expandable Wi-Fi network. We propose a wireless design method to construct such a vehicle control network. We propose the arrangement of AP and the software configuration method to minimize loss of data transmission / reception of mobile terminal. Through the design of the proposed network system, the communication performance of the moving vehicle can be dramatically increased. We also verify the packet structure of GPS, video, voice, and data communication that can be used for the vehicle through experiments on the movement of various terminal devices. This wireless design technology can be extended to various general purpose wireless networks such as 2.4GHz, 5GHz and 10GHz Wi-Fi. It is also possible to link wireless intelligent road network with autonomous driving.